Figure 3
The illustration consists of three plots. Left plot (a), “Environment with safe and danger areas”: The horizontal axis is labeled “X,” ranging from 0 to 100 with an interval of 20. The vertical axis is labeled “Y,” ranging from negative 20 to 70 with an interval of 10. It displays a winding corridor on an X-Y grid, where the interior region is shaded green to indicate safe areas and the outer band is shaded red to denote danger areas. The corridor curves through the space with two polygonal loops marking the boundaries between the green and red zones. The corridor starts from (negative 2.36, 4), passes through (30, negative 20), (40, 30), (84, negative 16), and (92, 60), and ends at (0, 60). Upper right plot (b), “Distances among the 3 robots and boundaries”: The horizontal axis is labeled “Time (second),” ranging from 0 to 300 with an interval of 50. The vertical axis is labeled “Collision Distance (meter),” ranging from 0 to 7 with an interval of 1. The main data trace is surrounded by a blue-shaded band that varies in width, representing fluctuating distances over time. Peaks and troughs appear at irregular intervals, with the distance ranging between 0.5 and approximately 6.2 meters. The entire region between the upper and lower data bounds is filled in light blue. Lower right plot (c), “Collision time. Note that collision times longer than 5 seconds are omitted”: The horizontal axis is labeled “Time (second),” ranging from 0 to 300 with an interval of 50. The vertical axis is labeled “Collision Time (second),” ranging from 0 to 5 with an interval of 1. The black trace features many narrow, vertical spikes and clusters, indicating frequent short-duration collisions at different intervals. The clusters are separated by periods with no collision events. Note: All the numerical data values are approximated.Environment with boundaries. Source: This study